Skip to content

Commit

Permalink
A second round of cleanup on GPS.h.
Browse files Browse the repository at this point in the history 
* Move yet more stuff out of GPS.h and into file scope.

* Protect code macros from eating semicolons.

* Remove unused (and unimplemented) getDOPString.

* clang-format with project style file on affected files.

Signed-off-by: Christopher Hoover <[email protected]>
  • Loading branch information
@charlieh0tel @fifieldt
charlieh0tel authored and fifieldt committed Nov 25, 2024
1 parent 37da789 commit d21cc92
Show file tree
Hide file tree
Showing 4 changed files with 86 additions and 133 deletions.
46 changes: 25 additions & 21 deletions src/gps/GPS.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -33,24 +33,26 @@ HardwareSerial *GPS::_serial_gps = &Serial1;
#elif defined(ARCH_RP2040)
SerialUART *GPS::_serial_gps = &Serial1;
#else
HardwareSerial *GPS::_serial_gps = NULL;
HardwareSerial *GPS::_serial_gps = nullptr;
#endif

GPS *gps = nullptr;

GPSUpdateScheduling scheduling;
static const char *ACK_SUCCESS_MESSAGE = "Get ack success!";

static GPSUpdateScheduling scheduling;

/// Multiple GPS instances might use the same serial port (in sequence), but we can
/// only init that port once.
static bool didSerialInit;

struct uBloxGnssModelInfo info;
uint8_t uBloxProtocolVersion;
static struct uBloxGnssModelInfo info;
static uint8_t uBloxProtocolVersion;
#define GPS_SOL_EXPIRY_MS 5000 // in millis. give 1 second time to combine different sentences. NMEA Frequency isn't higher anyway
#define NMEA_MSG_GXGSA "GNGSA" // GSA message (GPGSA, GNGSA etc)

// For logging
const char *getGPSPowerStateString(GPSPowerState state)
static const char *getGPSPowerStateString(GPSPowerState state)
{
switch (state) {
case GPS_ACTIVE:
Expand All @@ -69,7 +71,7 @@ const char *getGPSPowerStateString(GPSPowerState state)
}
}

void GPS::UBXChecksum(uint8_t *message, size_t length)
static void UBXChecksum(uint8_t *message, size_t length)
{
uint8_t CK_A = 0, CK_B = 0;

Expand All @@ -85,7 +87,7 @@ void GPS::UBXChecksum(uint8_t *message, size_t length)
}

// Calculate the checksum for a CAS packet
void GPS::CASChecksum(uint8_t *message, size_t length)
static void CASChecksum(uint8_t *message, size_t length)
{
uint32_t cksum = ((uint32_t)message[5] << 24); // Message ID
cksum += ((uint32_t)message[4]) << 16; // Class
Expand Down Expand Up @@ -419,7 +421,6 @@ int GPS::getACK(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t
*/
bool GPS::setup()
{

if (!didSerialInit) {
int msglen = 0;
if (tx_gpio && gnssModel == GNSS_MODEL_UNKNOWN) {
Expand Down Expand Up @@ -718,6 +719,7 @@ GPS::~GPS()
// we really should unregister our sleep observer
notifyDeepSleepObserver.unobserve(&notifyDeepSleep);
}

// Put the GPS hardware into a specified state
void GPS::setPowerState(GPSPowerState newState, uint32_t sleepTime)
{
Expand Down Expand Up @@ -882,17 +884,17 @@ void GPS::setPowerUBLOX(bool on, uint32_t sleepMs)
if (gnssModel != GNSS_MODEL_UBLOX10) {
// Encode the sleep time in millis into the packet
for (int i = 0; i < 4; i++)
gps->_message_PMREQ[0 + i] = sleepMs >> (i * 8);
_message_PMREQ[0 + i] = sleepMs >> (i * 8);

// Record the message length
msglen = gps->makeUBXPacket(0x02, 0x41, sizeof(_message_PMREQ), gps->_message_PMREQ);
msglen = gps->makeUBXPacket(0x02, 0x41, sizeof(_message_PMREQ), _message_PMREQ);
} else {
// Encode the sleep time in millis into the packet
for (int i = 0; i < 4; i++)
gps->_message_PMREQ_10[4 + i] = sleepMs >> (i * 8);
_message_PMREQ_10[4 + i] = sleepMs >> (i * 8);

// Record the message length
msglen = gps->makeUBXPacket(0x02, 0x41, sizeof(_message_PMREQ_10), gps->_message_PMREQ_10);
msglen = gps->makeUBXPacket(0x02, 0x41, sizeof(_message_PMREQ_10), _message_PMREQ_10);
}

// Send the UBX packet
Expand Down Expand Up @@ -1099,17 +1101,19 @@ int GPS::prepareDeepSleep(void *unused)
return 0;
}

const char *PROBE_MESSAGE = "Trying %s (%s)...";
const char *DETECTED_MESSAGE = "%s detected, using %s Module";
static const char *PROBE_MESSAGE = "Trying %s (%s)...";
static const char *DETECTED_MESSAGE = "%s detected, using %s Module";

#define PROBE_SIMPLE(CHIP, TOWRITE, RESPONSE, DRIVER, TIMEOUT, ...) \
LOG_DEBUG(PROBE_MESSAGE, TOWRITE, CHIP); \
clearBuffer(); \
_serial_gps->write(TOWRITE "\r\n"); \
if (getACK(RESPONSE, TIMEOUT) == GNSS_RESPONSE_OK) { \
LOG_INFO(DETECTED_MESSAGE, CHIP, #DRIVER); \
return DRIVER; \
}
do { \
LOG_DEBUG(PROBE_MESSAGE, TOWRITE, CHIP); \
clearBuffer(); \
_serial_gps->write(TOWRITE "\r\n"); \
if (getACK(RESPONSE, TIMEOUT) == GNSS_RESPONSE_OK) { \
LOG_INFO(DETECTED_MESSAGE, CHIP, #DRIVER); \
return DRIVER; \
} \
} while (0)

GnssModel_t GPS::probe(int serialSpeed)
{
Expand Down
53 changes: 0 additions & 53 deletions src/gps/GPS.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -54,9 +54,6 @@ enum GPSPowerState : uint8_t {
GPS_OFF // Powered off indefinitely
};

// Generate a string representation of DOP
const char *getDOPString(uint32_t dop);

/**
* A gps class that only reads from the GPS periodically and keeps the gps powered down except when reading
*
Expand Down Expand Up @@ -207,52 +204,6 @@ class GPS : private concurrency::OSThread
#else
static HardwareSerial *_serial_gps;
#endif
static uint8_t _message_PMREQ[];
static uint8_t _message_PMREQ_10[];
static const uint8_t _message_CFG_RXM_PSM[];
static const uint8_t _message_CFG_RXM_ECO[];
static const uint8_t _message_CFG_PM2[];
static const uint8_t _message_GNSS_7[];
static const uint8_t _message_GNSS_8[];
static const uint8_t _message_JAM_6_7[];
static const uint8_t _message_JAM_8[];
static const uint8_t _message_NAVX5[];
static const uint8_t _message_NAVX5_8[];
static const uint8_t _message_NMEA[];
static const uint8_t _message_DISABLE_TXT_INFO[];
static const uint8_t _message_1HZ[];
static const uint8_t _message_GLL[];
static const uint8_t _message_GSA[];
static const uint8_t _message_GSV[];
static const uint8_t _message_VTG[];
static const uint8_t _message_RMC[];
static const uint8_t _message_AID[];
static const uint8_t _message_GGA[];
static const uint8_t _message_PMS[];
static const uint8_t _message_SAVE[];
static const uint8_t _message_SAVE_10[];

// VALSET Commands for M10
static const uint8_t _message_VALSET_PM[];
static const uint8_t _message_VALSET_PM_RAM[];
static const uint8_t _message_VALSET_PM_BBR[];
static const uint8_t _message_VALSET_ITFM_RAM[];
static const uint8_t _message_VALSET_ITFM_BBR[];
static const uint8_t _message_VALSET_DISABLE_NMEA_RAM[];
static const uint8_t _message_VALSET_DISABLE_NMEA_BBR[];
static const uint8_t _message_VALSET_DISABLE_TXT_INFO_RAM[];
static const uint8_t _message_VALSET_DISABLE_TXT_INFO_BBR[];
static const uint8_t _message_VALSET_ENABLE_NMEA_RAM[];
static const uint8_t _message_VALSET_ENABLE_NMEA_BBR[];
static const uint8_t _message_VALSET_DISABLE_SBAS_RAM[];
static const uint8_t _message_VALSET_DISABLE_SBAS_BBR[];

// CASIC commands for ATGM336H
static const uint8_t _message_CAS_CFG_RST_FACTORY[];
static const uint8_t _message_CAS_CFG_NAVX_CONF[];
static const uint8_t _message_CAS_CFG_RATE_1HZ[];

const char *ACK_SUCCESS_MESSAGE = "Get ack success!";

// Create a ublox packet for editing in memory
uint8_t makeUBXPacket(uint8_t class_id, uint8_t msg_id, uint8_t payload_size, const uint8_t *msg);
Expand All @@ -273,10 +224,6 @@ class GPS : private concurrency::OSThread
/// always returns 0 to indicate okay to sleep
int prepareDeepSleep(void *unused);

// Calculate checksum
void UBXChecksum(uint8_t *message, size_t length);
void CASChecksum(uint8_t *message, size_t length);

/** Set power with EN pin, if relevant
*/
void writePinEN(bool on);
Expand Down
8 changes: 4 additions & 4 deletions src/gps/cas.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@

// CFG-RST (0x06, 0x02)
// Factory reset
const uint8_t GPS::_message_CAS_CFG_RST_FACTORY[] = {
static const uint8_t _message_CAS_CFG_RST_FACTORY[] = {
0xFF, 0x03, // Fields to clear
0x01, // Reset Mode: Controlled Software reset
0x03 // Startup Mode: Factory
Expand All @@ -30,7 +30,7 @@ const uint8_t GPS::_message_CAS_CFG_RST_FACTORY[] = {
// CFG_RATE (0x06, 0x01)
// 1HZ update rate, this should always be the case after
// factory reset but update it regardless
const uint8_t GPS::_message_CAS_CFG_RATE_1HZ[] = {
static const uint8_t _message_CAS_CFG_RATE_1HZ[] = {
0xE8, 0x03, // Update Rate: 0x03E8 = 1000ms
0x00, 0x00 // Reserved
};
Expand All @@ -39,7 +39,7 @@ const uint8_t GPS::_message_CAS_CFG_RATE_1HZ[] = {
// Initial ATGM33H-5N configuration, Updates for Dynamic Mode, Fix Mode, and SV system
// Qwirk: The ATGM33H-5N-31 should only support GPS+BDS, however it will happily enable
// and use GPS+BDS+GLONASS iff the correct CFG_NAVX command is used.
const uint8_t GPS::_message_CAS_CFG_NAVX_CONF[] = {
static const uint8_t _message_CAS_CFG_NAVX_CONF[] = {
0x03, 0x01, 0x00, 0x00, // Update Mask: Dynamic Mode, Fix Mode, Nav Settings
0x03, // Dynamic Mode: Automotive
0x03, // Fix Mode: Auto 2D/3D
Expand All @@ -60,4 +60,4 @@ const uint8_t GPS::_message_CAS_CFG_NAVX_CONF[] = {
0x00, 0x00, 0x00, 0x00, // Position Accuracy Max
0x00, 0x00, 0x00, 0x00, // Time Accuracy Max
0x00, 0x00, 0x00, 0x00 // Static Hold Threshold
};
};
Loading

0 comments on commit d21cc92

Please sign in to comment.